An intelligent monitoring security early warning method based on multi-view analysis in video

Abstract

The present invention discloses an intelligent monitoring safety early warning method based on multi-view analysis in a video, which relates to the field of safety monitoring, including: judging whether the actual processing scheme used for a part to be processed is the processing scheme corresponding to the processed part; monitoring the process of replacing the equipment currently used by at least one machine tool; monitoring the scheduling of at least one transport vehicle; judging whether the processing speed of the machine tool matches the transportation speed of the transport vehicle according to the processing quantity of the part to be processed; monitoring the processing equipment of the machine tool during the processing, and adjusting the processing equipment according to the monitoring results; monitoring the transport vehicle, and issuing an early warning when a blockage occurs. By issuing an early warning for the scheduling during the operation of multiple machines, an early warning for the blockage or wear of the processing equipment that may occur during the processing, unknown safety issues caused by the use of mismatched processing methods can be avoided.

Description

Technical Field

[0001] The present invention relates to the field of security monitoring, and in particular to an intelligent monitoring security early warning method based on multi-view analysis in a video. Background Art

[0002] Intelligent video analysis originates from computer vision technology. With the help of powerful computer data processing capabilities, intelligent video analysis technology can perform high-speed analysis on massive data in the video, filter out information that users do not care about, and only provide useful key information to the monitor. In some places with certain security requirements, a fully digital remote video monitoring system is used as part of the security system. The current video monitoring system often combines monitoring and early warning, so that the monitoring system can provide timely early warning under special circumstances.

[0003] There is a huge demand for monitoring in smart production lines. When smart production lines do not operate in the correct way, unreasonable regulation may lead to uncontrollable safety problems in the production line, such as broken tools due to incorrect use of processing tools, causing injuries to operators. The existing monitoring and early warning cannot cope with the complex working conditions in smart production lines. Summary of the invention

[0004] In order to solve the above technical problems, an intelligent monitoring safety early warning method based on multi-view analysis in video is provided. This technical solution solves the large demand for monitoring in the intelligent production line proposed in the above background technology. Because when the intelligent production line is not operated in the correct way, it may cause uncontrollable safety problems in the production line due to unreasonable regulation, such as incorrect use of processing tools resulting in tool breakage, causing injuries to the operator, and the existing monitoring and early warning cannot cope with the complex working conditions in the intelligent production line.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is:

[0006] An intelligent monitoring safety early warning method based on multi-view analysis in a video, comprising:

[0007] Acquire a processing plan for at least one processing part, wherein the processing plan includes at least one processing device, a processing parameter of at least one processing device, and a processing sequence of at least one processing device;

[0008] When the preparation area of ​​the loading and unloading station completes the clamping of the parts to be processed, the contour of the parts to be processed is identified, and the processing parts that are consistent with the contour of the parts to be processed are identified, and it is determined whether the actual processing plan used for the parts to be processed is the processing plan corresponding to the processing parts. If so, no processing is performed, otherwise, an early warning is issued, and the equipment currently used by at least one machine tool is replaced;

[0009] Monitor the process of replacing the equipment currently used by at least one machine tool, and determine whether the replaced processing equipment is a processing equipment in the processing plan that matches the part to be processed. If so, do not do anything; otherwise, issue an early warning and continue to replace the equipment until the early warning is no longer issued;

[0010] The transport vehicle carries the parts to be processed, and transports the parts to be processed to the loading and unloading area of ​​the machine tool. The transport vehicle carries the parts to be processed that have completed the processing procedures of all machine tools to the storage area of ​​the loading and unloading station. During the operation of the transport vehicle, the dispatching of at least one transport vehicle is monitored to determine whether there is any abnormality in the dispatching of the transport vehicle. If so, no processing is performed, otherwise, an early warning is issued;

[0011] According to the number of parts to be processed, determine whether the processing speed of the machine tool matches the transportation speed of the transport vehicle. If so, no action is taken. Otherwise, an early warning is issued and the transportation speed of the transport vehicle is adjusted until no early warning is issued.

[0012] During the processing, the processing equipment of the machine tool is monitored and adjusted according to the monitoring results;

[0013] The transport vehicles are monitored, and when a blockage occurs, an early warning is issued and the transport vehicles are re-dispatched.

[0014] Preferably, the contour recognition of the part to be processed and the identification of the processed part consistent with the contour of the part to be processed include the following steps:

[0015] Acquire an image of the part to be processed, perform gradient calculation on pixel points in the image of the part to be processed, and use pixel points whose gradient is greater than a preset value as contour points, wherein the gradient of a pixel point is the ratio of the difference between the pixel value of the pixel point and an adjacent pixel point to the distance between the adjacent pixel points;

[0016] Summarize the contour points to form the contour of the part to be processed, and select at least one segmentation point at equal intervals in the contour of the part to be processed;

[0017] Fitting at least one segmentation point to obtain a first fitting function, and using the first fitting function to calculate the area of ​​the part to be processed;

[0018] Acquire an image of the processed part, perform gradient calculation on pixel points in the image of the processed part, and take pixel points where the gradient is greater than a preset value as contour points;

[0019] Summarizing the contour points to form the contour of the machined part, and selecting at least one identification point at equal intervals in the contour of the machined part;

[0020] Fitting at least one identification point to obtain a second fitting function, and using the second fitting function to calculate the area of ​​the processed part;

[0021] A machining part whose area is consistent with the part to be machined is identified as a machining part consistent with the contour of the part to be machined.

[0022] Preferably, the step of determining whether the replaced processing equipment is a processing equipment in a processing scheme that matches the part to be processed comprises the following steps:

[0023] At least one machine tool is sorted according to the order of processing, and the sorted machine tools are numbered;

[0024] Obtaining a processing sequence of at least one processing device in the processing plan, and numbering at least one processing device according to the processing sequence;

[0025] Match the processing equipment to the machine tool with the same number, and determine whether the processing equipment replaced to the machine tool is the processing equipment matched to the machine tool. If so, no processing is performed, otherwise, an early warning is issued.

[0026] Preferably, the monitoring of the dispatch of at least one transport vehicle during the operation of the transport vehicle comprises the following steps:

[0027] Allocating at least one transport vehicle to at least one machine tool, each of the machine tools corresponding to one of the transport vehicles;

[0028] When there is a machine tool whose number is larger than the number of the machine tool paired with the transport vehicle, it is determined whether the planned path of the transport vehicle is the path between the machine tool paired with the transport vehicle and the machine tool whose number is one larger than the paired machine tool. If so, no processing is performed; if not, an exception occurs.

[0029] When there is no machine tool whose number is greater than the number of the machine tool paired with the transport vehicle, it is determined whether the planned path of the transport vehicle is the path between the machine tool paired with the transport vehicle and the storage area of ​​the loading and unloading station. If so, no processing is performed. If not, an exception occurs.

[0030] When the two transport vehicles execute the same command, it is determined whether the priority of the transport vehicle executing the loading command is lower than the priority of the transport vehicle executing the unloading command. If so, no processing is performed; if not, an exception occurs.

[0031] Preferably, the step of determining whether the processing speed of the machine tool matches the transport speed of the transport vehicle comprises the following steps:

[0032] Get the processing quantity of the parts to be processed and the total processing time limit of all the parts to be processed;

[0033] Based on historical data, obtain the proportion of transportation time and processing time, and calculate the total transportation time and total processing time of all parts to be processed;

[0034] The total transportation time is divided by the processing quantity to obtain the transportation time of the parts to be processed;

[0035] The total processing time is divided by the processing quantity to obtain the processing time of the parts to be processed;

[0036] Determine whether the difference between the time taken to complete the processing at the current processing speed of the machine tool and the processing time of the part to be processed is less than the preset time. If not, it is not matched;

[0037] If so, determine whether the difference between the time taken for the transport vehicle to complete the transport at its current transport speed and the transport time of the parts to be processed is less than the preset time. If so, then it matches; if not, then it does not match.

[0038] Preferably, the adjusting of the processing equipment according to the monitoring results comprises the following steps:

[0039] Based on historical data, obtain a normal image of the processing equipment and obtain the motion parameters of the machine tool in the normal image;

[0040] When the parameters of the adjusted machine tool are inconsistent with the motion parameters of the machine tool in the normal image, the parameters of the machine tool are adjusted to be consistent with the motion parameters of the machine tool in the normal image, and the actual image of the processing equipment is obtained;

[0041] Taking the center of the machine tool as the origin, the coordinate system is established in the normal image and the actual image in the same way;

[0042] Calculate the absolute value of the difference between the pixel values ​​of the pixel points at the same coordinates in the processing device of the normal image and the processing device of the actual image, and add them up to obtain the monitoring sum;

[0043] When the monitored sum is greater than the preset pixel value, the processing equipment is worn too much and needs to be replaced. Otherwise, no action is taken.

[0044] Preferably, the monitoring of the transport vehicle comprises the following steps:

[0045] Obtain a transport vehicle that undertakes a transport task as the target transport vehicle;

[0046] Get the coordinates of the target transport vehicle at the current moment as the first coordinates;

[0047] Obtain the coordinates of the target transport vehicle at a preset time after the current moment as the second coordinates;

[0048] When the first coordinate and the second coordinate are less than the preset distance, it is determined whether the circuit and control line of the target transport vehicle itself are abnormal. If so, there is no blockage, and if not, there is a blockage.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] By monitoring the scheduling of various machines during operation and issuing early warnings based on actual conditions, the scheduling between machine tools and transport vehicles can be reasonable and conflict-free. At the same time, blockages or wear of processing equipment that may occur during the processing process can be monitored, and abnormalities can be warned and adjusted in time to ensure the normal processing process, thereby avoiding unknown safety issues caused by the use of mismatched processing methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a flow chart of the intelligent monitoring safety early warning method based on multi-view analysis in video of the present invention;

[0052] Figure 2 It is a schematic diagram of a process of identifying the contour of a part to be processed and identifying a part to be processed that is consistent with the contour of the part to be processed according to the present invention;

[0053] Figure 3 A schematic diagram of a process flow of judging whether a replaced processing device is a processing device in a processing scheme matching a part to be processed according to the present invention;

[0054] Figure 4 A schematic diagram of a flow chart of monitoring the dispatch of at least one transport vehicle during the operation of the transport vehicle according to the present invention;

[0055] Figure 5 A schematic diagram of a flow chart of judging whether the processing speed of a machine tool matches the transport speed of a transport vehicle according to the present invention;

[0056] Figure 6 A schematic diagram of a process of adjusting a processing device according to monitoring results of the present invention;

[0057] Figure 7 It is a schematic diagram of the process of monitoring the transport vehicle according to the present invention. DETAILED DESCRIPTION

[0058] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0059] Reference Figure 1 As shown, an intelligent monitoring security early warning method based on multi-view analysis in a video includes:

[0060] Acquire a processing plan for at least one processing part, wherein the processing plan includes at least one processing device, a processing parameter of at least one processing device, and a processing sequence of at least one processing device;

[0061] When the preparation area of ​​the loading and unloading station completes the clamping of the parts to be processed, the contour of the parts to be processed is identified, and the processing parts that are consistent with the contour of the parts to be processed are identified, and it is determined whether the actual processing plan used for the parts to be processed is the processing plan corresponding to the processing parts. If so, no processing is performed, otherwise, an early warning is issued, and the equipment currently used by at least one machine tool is replaced;

[0062] Monitor the process of replacing the equipment currently used by at least one machine tool, and determine whether the replaced processing equipment is a processing equipment in the processing plan that matches the part to be processed. If so, do not do anything; otherwise, issue an early warning and continue to replace the equipment until the early warning is no longer issued;

[0063] The transport vehicle carries the parts to be processed, and transports the parts to be processed to the loading and unloading area of ​​the machine tool. The transport vehicle carries the parts to be processed that have completed the processing procedures of all machine tools to the storage area of ​​the loading and unloading station. During the operation of the transport vehicle, the dispatching of at least one transport vehicle is monitored to determine whether there is any abnormality in the dispatching of the transport vehicle. If so, no processing is performed, otherwise, an early warning is issued;

[0064] According to the number of parts to be processed, determine whether the processing speed of the machine tool matches the transportation speed of the transport vehicle. If so, no action is taken. Otherwise, an early warning is issued and the transportation speed of the transport vehicle is adjusted until no early warning is issued.

[0065] During the processing, the processing equipment of the machine tool is monitored and adjusted according to the monitoring results;

[0066] The transport vehicles are monitored, and when a blockage occurs, an early warning is issued and the transport vehicles are re-dispatched.

[0067] During monitoring, when the processing links in the production line do not run according to the normal process, the production line will inevitably be abnormal, and will lead to some unknown safety problems. For example, if the assigned tool does not match the part, it is easy for the tool to break due to hardness. The broken tool will fly out and may cause injury to the operator. In addition, when the speed of the production line does not match the number of parts produced, it is easy to cause accumulation and scatter from the machine tool, resulting in a messy production line and inconvenient walking, posing a major safety hazard. At the same time, when the transport vehicle is blocked, it is easy for the transport vehicle's motor to continue to operate, but the transport vehicle does not move, which will cause the motor to overload and also pose a major safety hazard. Therefore, these situations need to be monitored.

[0068] Reference Figure 2 As shown, the contour of the part to be processed is recognized, and the recognition of the processed part consistent with the contour of the part to be processed includes the following steps:

[0069] Acquire an image of the part to be processed, perform gradient calculation on pixel points in the image of the part to be processed, and use pixel points whose gradient is greater than a preset value as contour points, wherein the gradient of a pixel point is the ratio of the difference between the pixel value of the pixel point and an adjacent pixel point to the distance between the adjacent pixel points;

[0070] Summarize the contour points to form the contour of the part to be processed, and select at least one segmentation point at equal intervals in the contour of the part to be processed;

[0071] Fitting at least one segmentation point to obtain a first fitting function, and using the first fitting function to calculate the area of ​​the part to be processed;

[0072] Acquire an image of the processed part, perform gradient calculation on pixel points in the image of the processed part, and take pixel points where the gradient is greater than a preset value as contour points;

[0073] Summarizing the contour points to form the contour of the machined part, and selecting at least one identification point at equal intervals in the contour of the machined part;

[0074] Fitting at least one identification point to obtain a second fitting function, and using the second fitting function to calculate the area of ​​the processed part;

[0075] A machining part whose area is consistent with the part to be machined is identified as a machining part consistent with the contour of the part to be machined.

[0076] The gradient is calculated as the absolute value of the difference between the pixel values ​​of adjacent pixels;

[0077] Directly using the contour for identification requires rotating and moving the contour of the part to be processed and the contour of the processed part to overlap, otherwise identification cannot be performed. Therefore, direct identification is difficult, but the areas of the processed parts are usually different. Therefore, by calculating the area within the contour of the part to be processed and the area of ​​the contour of the processed part, it is possible to select a processing part with the same area as the part to be processed, and determine whether its corresponding processing plan matches the part to be processed.

[0078] Reference Figure 3 As shown, judging whether the replaced processing equipment is a processing equipment in the processing scheme that matches the part to be processed includes the following steps:

[0079] At least one machine tool is sorted according to the order of processing, and the sorted machine tools are numbered;

[0080] Obtaining a processing sequence of at least one processing device in the processing plan, and numbering at least one processing device according to the processing sequence;

[0081] Match the processing equipment to the machine tool with the same number, and determine whether the processing equipment replaced to the machine tool is the processing equipment matched to the machine tool. If so, no processing is performed, otherwise, an early warning is issued.

[0082] Different processing equipment is required for different parts to be processed. Therefore, the processing equipment on the machine tool needs to be replaced. Otherwise, the wrong processing equipment will be used for processing. When the hardness of the processing equipment is insufficient, the tool may break easily during processing.

[0083] Reference Figure 4 As shown, during the operation of the transport vehicle, monitoring the dispatch of at least one transport vehicle includes the following steps:

[0084] Allocating at least one transport vehicle to at least one machine tool, each of the machine tools corresponding to one of the transport vehicles;

[0085] When there is a machine tool whose number is larger than the number of the machine tool paired with the transport vehicle, it is determined whether the planned path of the transport vehicle is the path between the machine tool paired with the transport vehicle and the machine tool whose number is one larger than the paired machine tool. If so, no processing is performed; if not, an exception occurs.

[0086] When there is no machine tool whose number is greater than the number of the machine tool paired with the transport vehicle, it is determined whether the planned path of the transport vehicle is the path between the machine tool paired with the transport vehicle and the storage area of ​​the loading and unloading station. If so, no processing is performed. If not, an exception occurs.

[0087] When the two transport vehicles execute the same command, it is determined whether the priority of the transport vehicle executing the loading command is lower than the priority of the transport vehicle executing the unloading command. If so, no processing is performed; if not, an exception occurs.

[0088] The transport vehicle transports the parts to be processed to the loading and unloading area of ​​the machine tool. The transport vehicle moves the parts to be processed that have completed the processing procedures of all machine tools to the storage area of ​​the loading and unloading station. Therefore, it is necessary to monitor the path of the transport vehicle. The transport vehicle transports the parts to be processed to the adjacent machine tools and transfers the parts to be processed that have been processed on the previous machine tool to the next machine tool. Since the machine tool must be vacant for loading, unloading has a higher priority than loading. Early warning in this way can ensure the normal operation of the machine tool.

[0089] Reference Figure 5 As shown, judging whether the processing speed of the machine tool matches the transport speed of the transport vehicle includes the following steps:

[0090] Get the processing quantity of the parts to be processed and the total processing time limit of all the parts to be processed;

[0091] Based on historical data, obtain the proportion of transportation time and processing time, and calculate the total transportation time and total processing time of all parts to be processed;

[0092] The total transportation time is divided by the processing quantity to obtain the transportation time of the parts to be processed;

[0093] The total processing time is divided by the processing quantity to obtain the processing time of the parts to be processed;

[0094] Determine whether the difference between the time taken to complete the processing at the current processing speed of the machine tool and the processing time of the part to be processed is less than the preset time. If not, it is not matched;

[0095] If so, determine whether the difference between the time taken for the transport vehicle to complete the transport at its current transport speed and the transport time of the parts to be processed is less than the preset time. If so, then it matches; if not, then it does not match.

[0096] The processing speed of the machine tool and the transportation speed of the transport vehicle need to be adjusted with the processing quantity of the parts to be processed and the total processing time limit. During the processing process, if the work needs to be rushed, the remaining number of parts to be processed will be used as the processing quantity of the parts to be processed, and the updated remaining time will be used as the total processing time limit. From this, the new processing speed of the machine tool and the transportation speed of the transport vehicle can be calculated, and the current processing speed and transportation speed can be monitored accordingly. When they do not meet the demand, an early warning will be issued, otherwise congestion is likely to occur, causing unknown safety problems for both the machine tool and the transport vehicle due to congestion.

[0097] Reference Figure 6 As shown, adjusting the processing equipment according to the monitoring results includes the following steps:

[0098] Based on historical data, obtain a normal image of the processing equipment and obtain the motion parameters of the machine tool in the normal image;

[0099] When the parameters of the adjusted machine tool are inconsistent with the motion parameters of the machine tool in the normal image, the parameters of the machine tool are adjusted to be consistent with the motion parameters of the machine tool in the normal image, and the actual image of the processing equipment is obtained;

[0100] Taking the center of the machine tool as the origin, the coordinate system is established in the normal image and the actual image in the same way;

[0101] Calculate the absolute value of the difference between the pixel values ​​of the pixel points at the same coordinates in the processing device of the normal image and the processing device of the actual image, and add them up to obtain the monitoring sum;

[0102] When the monitored sum is greater than the preset pixel value, the processing equipment is worn too much and needs to be replaced. Otherwise, no action is taken.

[0103] The main reason for adjusting the processing equipment is that the processing equipment will wear out due to long-term operation. When the wear is severe, if the processing path of the machine tool remains unchanged, it will cause problems with the processing accuracy. Therefore, the processing equipment needs to be inspected and replaced when the wear is severe.

[0104] Reference Figure 7 As shown, monitoring the transport vehicle includes the following steps:

[0105] Obtain a transport vehicle that undertakes a transport task as the target transport vehicle;

[0106] Get the coordinates of the target transport vehicle at the current moment as the first coordinates;

[0107] Obtain the coordinates of the target transport vehicle at a preset time after the current moment as the second coordinates;

[0108] When the first coordinate and the second coordinate are less than the preset distance, it is determined whether the circuit and control line of the target transport vehicle itself are abnormal. If so, there is no blockage, and if not, there is a blockage.

[0109] Problems in transportation may be due to a malfunction of the transport vehicle itself, or it may be due to a collision of the transport vehicle, causing its own transportation to stop. This will result in the machine tools that need it to unload materials not being able to unload materials, thus causing processing blockage. When a transport vehicle crashes, although it will not move, its own motor will not stop operating, which can easily lead to overload and may cause a fire. Therefore, it is necessary to monitor the transport vehicle and issue early warnings for abnormal transport vehicles.

[0110] Furthermore, the present solution also proposes a storage medium on which a computer-readable program is stored. When the computer-readable program is called, the above-mentioned intelligent monitoring security early warning method based on multi-view analysis in the video is executed.

[0111] It is understandable that the storage medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; an optical medium, such as a DVD; or a semiconductor medium, such as a solid state drive (SSD).

[0112] To sum up, the advantages of the present invention are: by monitoring the scheduling of various machines during operation and issuing early warnings based on actual conditions, the scheduling between machine tools and transport vehicles is reasonable and conflict-free. At the same time, blockages or wear of processing equipment that may occur during the processing process are monitored, and abnormalities are promptly warned and adjusted, thereby ensuring the normal progress of the processing process and avoiding unknown safety issues caused by the use of mismatched processing methods.

[0113] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent monitoring security early warning method based on multi-view analysis in video, characterized in that: include: Acquire a processing plan for at least one processing part, wherein the processing plan includes at least one processing device, a processing parameter of at least one processing device, and a processing sequence of at least one processing device; When the preparation area of ​​the loading and unloading station completes the clamping of the parts to be processed, the contour of the parts to be processed is identified, and the processing parts that are consistent with the contour of the parts to be processed are identified, and it is determined whether the actual processing plan used for the parts to be processed is the processing plan corresponding to the processing parts. If so, no processing is performed, otherwise, an early warning is issued, and the equipment currently used by at least one machine tool is replaced; Monitor the process of replacing the equipment currently used by at least one machine tool, and determine whether the replaced processing equipment is a processing equipment in the processing plan that matches the part to be processed. If so, do not do anything; otherwise, issue an early warning and continue to replace the equipment until the early warning is no longer issued; The transport vehicle carries the parts to be processed, and transports the parts to be processed to the loading and unloading area of ​​the machine tool. The transport vehicle carries the parts to be processed that have completed the processing procedures of all machine tools to the storage area of ​​the loading and unloading station. During the operation of the transport vehicle, the dispatching of at least one transport vehicle is monitored to determine whether there is any abnormality in the dispatching of the transport vehicle. If not, no processing is performed, otherwise, an early warning is issued; According to the number of parts to be processed, determine whether the processing speed of the machine tool matches the transportation speed of the transport vehicle. If so, no action is taken. Otherwise, an early warning is issued and the transportation speed of the transport vehicle is adjusted until no early warning is issued. During the processing, the processing equipment of the machine tool is monitored and adjusted according to the monitoring results; Monitor the transport vehicles, issue warnings when congestion occurs, and re-dispatch the transport vehicles; The step of determining whether the replaced processing equipment is a processing equipment in the processing scheme that matches the part to be processed comprises the following steps: At least one machine tool is sorted according to the order of processing, and the sorted machine tools are numbered; Obtaining a processing sequence of at least one processing device in the processing plan, and numbering at least one processing device according to the processing sequence; Match the processing equipment to the machine tool with the same number, and determine whether the processing equipment replaced to the machine tool is the processing equipment matched to the machine tool. If so, no processing is performed, otherwise, an early warning is issued; The monitoring of the dispatch of at least one transport vehicle during the operation of the transport vehicle comprises the following steps: Allocating at least one transport vehicle to at least one machine tool, each of the machine tools corresponding to one of the transport vehicles; When there is a machine tool whose number is larger than the number of the machine tool paired with the transport vehicle, it is determined whether the planned path of the transport vehicle is the path between the machine tool paired with the transport vehicle and the machine tool whose number is one larger than the paired machine tool. If so, no processing is performed; if not, an exception occurs. When there is no machine tool whose number is greater than the number of the machine tool paired with the transport vehicle, it is determined whether the planned path of the transport vehicle is the path between the machine tool paired with the transport vehicle and the storage area of ​​the loading and unloading station. If so, no processing is performed. If not, an exception occurs. When the two transport vehicles execute the same command, it is determined whether the priority of the transport vehicle executing the loading command is lower than the priority of the transport vehicle executing the unloading command. If so, no processing is performed; if not, an exception occurs.

2. According to claim 1, the intelligent monitoring safety early warning method based on multi-view analysis in video is characterized in that: The contour recognition of the part to be processed and the identification of the processed part consistent with the contour of the part to be processed include the following steps: Acquire an image of the part to be processed, perform gradient calculation on pixel points in the image of the part to be processed, and use pixel points whose gradient is greater than a preset value as contour points, wherein the gradient of a pixel point is the ratio of the difference between the pixel value of the pixel point and an adjacent pixel point to the distance between the adjacent pixel points; Summarize the contour points to form the contour of the part to be processed, and select at least one segmentation point at equal intervals in the contour of the part to be processed; Fitting at least one segmentation point to obtain a first fitting function, and using the first fitting function to calculate the area of ​​the part to be processed; Acquire an image of the processed part, perform gradient calculation on pixel points in the image of the processed part, and take pixel points where the gradient is greater than a preset value as contour points; Summarizing the contour points to form the contour of the machined part, and selecting at least one identification point at equal intervals in the contour of the machined part; Fitting at least one identification point to obtain a second fitting function, and using the second fitting function to calculate the area of ​​the processed part; A machining part whose area is consistent with the part to be machined is identified as a machining part consistent with the contour of the part to be machined.

3. The intelligent monitoring safety early warning method based on multi-view analysis in video according to claim 2 is characterized in that: The step of determining whether the processing speed of the machine tool matches the transport speed of the transport vehicle comprises the following steps: Get the processing quantity of the parts to be processed and the total processing time limit of all the parts to be processed; Based on historical data, obtain the proportion of transportation time and processing time, and calculate the total transportation time and total processing time of all parts to be processed; The total transportation time is divided by the processing quantity to obtain the transportation time of the parts to be processed; The total processing time is divided by the processing quantity to obtain the processing time of the parts to be processed; Determine whether the difference between the time taken to complete the processing at the current processing speed of the machine tool and the processing time of the part to be processed is less than the preset time. If not, it is not matched; If so, determine whether the difference between the time taken for the transport vehicle to complete the transport at its current transport speed and the transport time of the parts to be processed is less than the preset time. If so, then it matches; if not, then it does not match.

4. The intelligent monitoring safety early warning method based on multi-view analysis in video according to claim 3 is characterized in that: The adjustment of the processing equipment according to the monitoring results comprises the following steps: Based on historical data, obtain a normal image of the processing equipment and obtain the motion parameters of the machine tool in the normal image; When the parameters of the adjusted machine tool are inconsistent with the motion parameters of the machine tool in the normal image, the parameters of the machine tool are adjusted to be consistent with the motion parameters of the machine tool in the normal image, and the actual image of the processing equipment is obtained; Taking the center of the machine tool as the origin, the coordinate system is established in the normal image and the actual image in the same way; Calculate the absolute value of the difference between the pixel values ​​of the pixel points at the same coordinates in the processing device of the normal image and the processing device of the actual image, and add them up to obtain the monitoring sum; When the monitored sum is greater than the preset pixel value, the processing equipment is worn too much and needs to be replaced. Otherwise, no action is taken.

5. The intelligent monitoring safety early warning method based on multi-view analysis in video according to claim 4 is characterized in that: The monitoring of the transport vehicle comprises the following steps: Obtain a transport vehicle that undertakes a transport task as the target transport vehicle; Get the coordinates of the target transport vehicle at the current moment as the first coordinates; Obtain the coordinates of the target transport vehicle at a preset time after the current moment as the second coordinates; When the first coordinate and the second coordinate are less than the preset distance, it is determined whether the circuit and control line of the target transport vehicle itself are abnormal. If not, no blockage occurs; if so, blockage occurs.

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